CN103425130A - Storage conveying method with automatic tracking and obstacles avoiding functions - Google Patents
Storage conveying method with automatic tracking and obstacles avoiding functions Download PDFInfo
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- CN103425130A CN103425130A CN2013103354215A CN201310335421A CN103425130A CN 103425130 A CN103425130 A CN 103425130A CN 2013103354215 A CN2013103354215 A CN 2013103354215A CN 201310335421 A CN201310335421 A CN 201310335421A CN 103425130 A CN103425130 A CN 103425130A
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Abstract
The invention discloses a storage conveying method with automatic tracking and obstacle avoiding functions. A black line is set on the ground of a warehouse while the rest of the ground is brushed with white color. An infrared sensor below the head of a car emits light ray downwards and receives reflection ray, whether a storage good conveyer car deviates from the black line or not is judged according to the difference between the reflection rays from the back line and the white ground, so that the conveyer car is controlled to return to the back line as set and the tracking function is achieved. Locations and distances of the conveyer car from obstacles are measured by a camera and an ultrasonic sensor right above the head of the conveyer car, and then the optimum obstacle avoiding route is calculated; further, by the aid of infrared sensors and photoelectric encoders on the left side and the right side of the conveyer car, the conveyer car bypasses the obstacles to return to the back line, and accordingly, the obstacle avoiding function is achieved. The storage conveying method is simple and convenient, has high reliability, low cost and high practicability, and can meet the requirement of automatically conveying storage goods.
Description
Technical field
The present invention relates to the automatic bootstrap technique of robot field, relate in particular to the storage transportation resources that a kind of automatic tracking is kept away barrier.
Background technology
The transportation resources of tradition articles from the storeroom mainly contains following two kinds: use the pilot steering transportation and use intelligent carriage to transport at trapped orbit, the former has relatively high expectations to driver's self driving technology, needs to drop into larger human resources; Although the latter can realize the tracking function, track is fixed, and cost is higher, and run into barrier but can not automatic obstacle-avoiding, there is larger limitation.
Summary of the invention
Technical matters to be solved by this invention is the defect for background technology, the storage transportation resources that provides a kind of automatic tracking to keep away barrier.
The present invention is for solving the problems of the technologies described above by the following technical solutions:
A kind of automatic tracking is kept away the storage transportation resources of barrier, black line is set on warehouse floor, and all the other floor brushs are become to white, the storage travelling bogie is provided with camera, single-chip microcomputer, 12 pairs of infrared ray sensors, ultrasonic sensor, driver module and vehicle power, wherein camera and ultrasonic sensor are arranged on the dolly headstock, the dead ahead that transmit direction is dolly, 8 pairs of equidistant laterally being arranged on below the dolly headstock of infrared ray sensor, transmit direction is under dolly, the 4 pairs of infrared ray sensors are arranged on respectively the side of four jiaos of the vehicle bodies of dolly, the both sides that transmit direction is dolly, single-chip microcomputer is connected with camera, 12 pairs of infrared ray sensors, ultrasonic sensor, driver modules respectively, vehicle power is connected with camera, single-chip microcomputer 12 pairs of infrared ray sensors, ultrasonic sensor, driver modules respectively, the storage travelling bogie arrives original place turnback behind destination along the black line automatic tracking, automatic obstacle-avoiding while running into barrier midway, the concrete steps of automatic tracking are as follows:
Step a), 8 pairs of infrared ray sensor generation infrared rays of headstock below also convert the reflection ray received to low and high level;
Step b), by the level voltage binaryzation be converted to, when voltage is more than or equal to 3, get 1, when voltage is less than 3, gets 0;
Step c), obtain Y using the magnitude of voltage of 4 pairs of infrared ray sensor binaryzations of left side of face under headstock as logical value after work and calculating
1, the magnitude of voltage of 4 pairs of infrared ray sensor binaryzations of right side of face under headstock is done and is calculated Y
2
Step d), if Y
1=0 and Y
2=0, the Single-chip Controlling driver module makes dolly along the trace straight-line travelling;
Step e), if Y
1=1 and Y
2=0, the Single-chip Controlling driver module makes dolly deflection left;
Step f), if Y
1=0 and Y
2=1, the deflection to the right of Single-chip Controlling driver module;
Step g), if Y
1=1 and Y
2=1, the Single-chip Controlling driver module makes dolly original place turnback.
As the further prioritization scheme of the present invention, the concrete steps of automatic obstacle-avoiding are as follows:
Step 1), ultrasonic sensor is measured dolly and is greater than 1 meter while being less than 1.5 meters apart from the distance of barrier, Single-chip Controlling camera photographic images;
Step 2), the image lower-left point that the camera of take is taken is set up rectangular coordinate system as initial point, calculates clapped image center abscissa value Q, and calculates barrier center abscissa value W in clapped image;
Step 3), the barrier center abscissa value W relatively calculated and image center abscissa value Q;
Step 4), if Q>=W, it is curved that the Single-chip Controlling driver module turn 90 degrees dolly to the right, recording now two infrared ray sensors in vehicle body left side transmits and receives the mistiming between reflected signal, then control dolly and advance, when two, vehicle body left side infrared ray sensor transmits and mistiming of receiving between reflected signal all is greater than 3 * 10 with the absolute value of the difference of the mistiming of recording
-7Second the time, the Single-chip Controlling driver module turn 90 degrees after curved dolly left to advance, when two, left side of vehicle body infrared ray sensor transmits and mistiming of receiving between reflected signal all is greater than 3 * 10 with the absolute value of the difference of the mistiming of recording
-7Second the time, the Single-chip Controlling driver module turn 90 degrees after curved dolly left to advance, work as Y
1=0 and Y
2=0 o'clock, the Single-chip Controlling driver module turn 90 degrees after curved dolly to the right to advance;
Step 5), if Q<W, it is curved that the Single-chip Controlling driver module turn 90 degrees dolly left, recording now two, vehicle body right side infrared ray sensor transmits and receives the mistiming between reflected signal, then control dolly and advance, when two, vehicle body right side infrared ray sensor transmits and receives mistiming between reflected signal, with the absolute value of the difference of the mistiming of recording, all be greater than 3 * 10
-7Second the time, the Single-chip Controlling driver module turn 90 degrees after curved dolly to the right to advance, when two, vehicle body right side infrared ray sensor transmits and mistiming of receiving between reflected signal all is greater than 3 * 10 with the absolute value of the difference of the mistiming of recording
-7Second the time, the Single-chip Controlling driver module turn 90 degrees after curved dolly to the right to advance, work as Y
1=0 and Y
2=0 o'clock, the Single-chip Controlling driver module turn 90 degrees after curved dolly left to advance.
As the further prioritization scheme of the present invention, the step that barrier center abscissa value in image is clapped in described calculating is as follows:
Step 2.1), the photographic images lower-left point of CCD camera of take is set up rectangular coordinate system as initial point, as follows the image of setting up coordinate system is carried out to Threshold segmentation binary conversion treatment, obtains the gray-scale value B (m, n) of binary image:
Wherein I (m, n) is the gray-scale value of the view data of collection, the binarization segmentation threshold value that T is barrier and background, and T=210, m, n are respectively horizontal stroke, the ordinate value of current pixel location, and m, and n is not less than 0 integer, m=0,1,2 ..., 98,99, n=0,1,2 ..., 78,79;
Step 2.2), the gray-scale value of the pixel that after image binaryzation, each lists is carried out to addition, and result of calculation is stored in respectively to array A[g] in,
Wherein g is not less than 0 integer, g=0, and 1,2 ..., 98,99;
Step 2.3), ash value degree in array is screened, is determined the border, left and right of barrier, and by result store at array A[j] and F[h] in:
At first, g is according to 0,1,2 ..., 49,50 successively value and as the A[g+2 that satisfy condition]-A[g] >=15& & A[g+2] >=25& & A[g]≤5 o'clock, the value of g ' is stored in to array E[j successively] in, wherein, g '=g+2, j is for being not less than 0 integer, and j=0, and 1,2 ..., 49,50;
As the g all values A[g+2 that all do not satisfy condition]-A[g] >=15& & A[g+2] >=25& & A[g]≤5 o'clock, by image center abscissa value Q storage E[0] in, i.e. E[0]=Q, and Q=50;
Secondly, g is according to 0,1,2 ..., 49,50 successively value and as the A[100-g-2 that satisfy condition]-A[100-g] >=15& & A[100-g-2] >=25& & A[100-g]≤5 o'clock, the value of g ' ' is stored in to array F[h successively] in, g ' '=100-g-2 wherein, h is not less than 0 integer, and h=0, and 1,2 ..., 49,50;
As the g all values A[100-g-2 that all do not satisfy condition]-A[100-g] >=15& & A[100-g-2] >=25& & A[100-g]≤5 o'clock, by image center abscissa value Q storage F[0] in, i.e. F[0]=Q, and Q=50.
Step 2.4), dyscalculia thing central point abscissa value W=(E[0]+F[0])/2.
The present invention adopts above technical scheme compared with prior art, has following technique effect:
1. simple structure, with low cost;
2. can automatic tracking;
3. possesses automatic obstacle avoidance functions.
The accompanying drawing explanation
Fig. 1 is the schematic diagram of dolly transportation;
Fig. 2 is the circuit system schematic diagram of dolly;
Fig. 3 is the structural representation of dolly;
Fig. 4 be embodiment keep away the barrier schematic diagram to the right;
Fig. 5 be embodiment keep away the barrier schematic diagram left.
Embodiment
Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:
As shown in Figure 1, the black line 2 of 0.15 meter is set on warehouse floor, and all the other floor brushs are become to white, storage travelling bogie 1 arrives original place turnback behind destinations, automatic obstacle-avoiding while running into barrier 3 midway along black line 2 automatic trackings.
As shown in Figure 2, the present embodiment discloses the storage transportation resources that a kind of automatic tracking is kept away barrier, comprise the dolly body, the dolly body is provided with camera 101, single-chip microcomputer, ultrasonic sensor 102, driver module, vehicle power and 12 couples of infrared ray sensor A, B, C, D, E, F, G, H, I, J, K, L, wherein camera 101 and ultrasonic sensor 102 are arranged on the dolly headstock, the dead ahead that transmit direction is dolly, 8 couples of infrared ray sensor A, B, C, D, E, F, G, 0.1 meter, H interval laterally is arranged on below the dolly headstock, transmit direction is under dolly, 4 couples of infrared ray sensor I, J, K, L is arranged on respectively the side of four jiaos of the vehicle bodies of dolly, the both sides that transmit direction is dolly.
The dolly body comprises left driving wheel 103,, right driving wheel 104, engaged wheel 105, driver module comprises drive motor and two photoelectric encoder M, N, wherein photoelectric encoder M is arranged on left driving wheel 103, photoelectric encoder N is arranged on right driving wheel 104.
As shown in Figure 3, camera adopts CCD camera OV6620, single-chip microcomputer adopts the MC9S12DG128 single-chip microcomputer, infrared ray sensor adopts the RPR220 infrared ray sensor, single-chip microcomputer is connected with camera, 12 pairs of infrared ray sensors, ultrasonic sensor, driver modules respectively, and vehicle power is connected with camera, single-chip microcomputer 12 pairs of infrared ray sensors, ultrasonic sensor, driver modules respectively.
The infrared ray sensors emission infrared radiations of 8 pairs of headstock belows have larger reflection during to white ground, receive the infra-red intensity be reflected back larger, and while shining on black line, black line can absorb most of infrared light, receives infra-red intensity just very weak.
In the present embodiment, the tracking method of dolly is as follows:
By setting logical variable Y
1And Y
2, according to Y
1And Y
2Logical value judge whether dolly departs from black line, and then determine the rotation direction of two driving wheels, work as Y
1=0, and Y
2=0 o'clock, do not depart from black line, now, single-chip microcomputer is controlled driving wheel by drive motor makes dolly along the black line straight-line travelling; Work as Y
1=1, and Y
2=0 o'clock, dolly was toward right avertence, and now, single-chip microcomputer is controlled driving wheel by drive motor makes dolly deflection left to get back to black line; Work as Y
1=0, and Y
2=1 o'clock, dolly was toward left avertence, and now single-chip microcomputer is controlled driving wheel by drive motor and made dolly deflection to the right to get back to black line; Y
1=1 and Y
2=1, single-chip microcomputer arrives destination, and single-chip microcomputer is controlled drive motor by photoelectric encoder makes the dolly left and right wheels in the original place turnback.
Above-mentioned Y
1And Y
2Be defined as Y
1=V
A' &V
B' &V
C' &V
D', Y
2=V
E' &V
F' &V
G' &V
H', V wherein
A', V
B', V
C', V
D', V
E', V
F', V
G', V
H' be logical variable.Under normal circumstances, dolly in motion, infrared ray sensor D, E receive low level, and other six infrared ray sensor A, B, C, F, G, H receive high level, so establish the magnitude of voltage that 8 infrared ray sensor A, B, C, D, E, F, G, H receive, are respectively V
0, V
1, V
2, V
3, V
4, V
5, V
6, V
7, and the magnitude of voltage received is carried out to binary conversion treatment
I=0 wherein, 1,2,3,4,5,6,7, the magnitude of voltage obtained only has 0 and 1 two kind, and 0 after binary conversion treatment and 1 is set as respectively to logical falsehood and logical truth, is assigned to corresponding logical variable V
A', V
B', V
C', V
D', V
E', V
F', V
G', V
H', i.e. V
A'=V
0, V
B'=V
1, V
C'=V
2V
D'=V
3, V
E'=V
4, V
F'=V
5, V
G'=V
6, V
H'=V
7.
In the present embodiment, the method for dolly automatic obstacle-avoiding is as follows:
(1) solve the CCD camera and clap barrier center abscissa value.
At first, set up rectangular coordinate system as initial point take the photographic images lower-left point of CCD camera, the image of setting up coordinate system carried out to Threshold segmentation binary conversion treatment, obtain the gray-scale value B (m, n) of binary image:
Wherein I (m, n) is the gray-scale value of the view data of collection, the binarization segmentation threshold value that T is barrier and background, and T=210, m, n are respectively horizontal stroke, the ordinate value of current pixel location, and m, and n is not less than 0 integer, m=0,1,2 ..., 98,99, n=0,1,2 ..., 78,79.
Then, image is carried out to horizontal projection, that is, the gray-scale value of the pixel that after image binaryzation, each lists is carried out to addition, result of calculation is stored in respectively to array A[g] in,
Wherein g is not less than 0 integer, and g=0, and 1,2 ..., 98,99.
Finally, dyscalculia thing central point abscissa value.
Ash value degree in array is screened by following condition, and by result store at array E[j] and F[h] in, thereby the border, left and right of definite barrier:
G is according to 0,1,2 ..., 49,50 successively value and as the A[g+2 that satisfy condition]-A[g] >=15& & A[g+2] >=25& & A[g]≤5 o'clock, the value of g ' is stored in to array E[j successively] in, wherein, g '=g+2, j is for being not less than 0 integer, and j=0, and 1,2 ..., 49,50;
As the g all values A[g+2 that all do not satisfy condition]-A[g] >=15& & A[g+2] >=25& & A[g]≤5 o'clock, by image center abscissa value Q storage E[0] in, i.e. E[0]=Q, and Q=50;
G is according to 0,1,2 ..., 49,50 successively value and as the A[100-g-2 that satisfy condition]-A[100-g] >=15& & A[100-g-2] >=25& & A[100-g]≤5 o'clock, the value of g ' ' is stored in to array F[h successively] in, g ' '=100-g-2 wherein, h is not less than 0 integer, and h=0, and 1,2 ..., 49,50;
As the g all values A[100-g-2 that all do not satisfy condition]-A[100-g] >=15& & A[100-g-2] >=25& & A[100-g]≤5 o'clock, by image center abscissa value Q storage F[0] in, i.e. F[0]=Q, and Q=50.
Dyscalculia thing central point abscissa value W=(E[0]+F[0])/2.
(2) in conjunction with ultrasonic sensor, infrared ray sensor (I, K, J, L), get around barrier
As shown in Figure 4, when ultrasonic sensor detect the storage travelling bogie 1 from barrier 3 apart from x
0Meet: x
01.0 meters, and x
0In the time of<1.5 meters, that is, now moving of car is to position P
0The time, barrier central point abscissa value W and picture centre position abscissa value Q are compared, wherein,
v
0For ultrasonic transmission speed, t
0For transmitter transmits and receiver receives the mistiming between reflected signal.
If Q>=W, as shown in Figure 4, dolly is in the barrier right of center, and single-chip microcomputer is controlled drive motor by photoelectric encoder and the dolly left and right wheels turn 90 degrees to the right after curved move on; The transmitting probe emission infrared ray of the process of advancing middle infrared (Mid-IR) sensor K, when initial, the mistiming that transmitting probe transmits and receiving transducer receives between reflected signal is t
1, the mistiming that receives reflected signal when the receiving transducer of K becomes t
K, and | t
K-t
1|>=3 * 10
-7Second, i.e. dolly trailing wheel in-position P
1The time, single-chip microcomputer is controlled after drive motor turn 90 degrees the dolly left and right wheels left and is moved on by photoelectric encoder; The transmitting probe of dolly left side infrared ray sensor I, K is launched infrared ray simultaneously, and the mistiming that receiving transducer initially receives reflected signal is respectively t
2, t'
2, until I, K infrared receiver probe receives the reflected signal mistiming, be t'
I, t'
K, condition below meet
That is, while existing length to be less than the space of length of wagon between the barrier of front and back, dolly moves on, until satisfy condition
Dolly trailing wheel in-position P
2, single-chip microcomputer is controlled drive motor by photoelectric encoder turn 90 degrees the dolly left and right wheels left, and dolly is straight ahead again; When the magnitude of voltage received when downward 8 infrared receivers probe of dolly headstock is low level after quantizing, now dolly has been got back on black line, i.e. dolly in-position P
3, single-chip microcomputer continues straight-line travelling after controlling drive motor the dolly left and right wheels is turn 90 degrees by photoelectric encoder to the right, keeping away in this case hinders route as shown in Figure 4, last, the process of repeating step one, step 2, until the storage dolly arrives destination by goods handling, as logical variable Y
1And Y
2Satisfy condition
Single-chip microcomputer is controlled drive motor by photoelectric encoder and is made to return to one's starting point along original trace after the turnback of dolly left and right wheels original place.
If Q<W, as shown in Figure 5, dolly is in the barrier left of center, and single-chip microcomputer is controlled after drive motor turn 90 degrees the dolly left and right wheels left and moved on by photoelectric encoder; The transmitting probe emission infrared ray of the process of advancing middle infrared (Mid-IR) sensor L, when initial, the mistiming that transmitting probe transmits and receiving transducer receives between reflected signal is t
3, the mistiming that receives reflected signal when the receiving transducer of L becomes t
L, and | t
L-t
1|>=3 * 10
-7Second, i.e. dolly trailing wheel in-position P
5The time, single-chip microcomputer is controlled after drive motor turn 90 degrees the dolly left and right wheels to the right and is moved on by photoelectric encoder; The transmitting probe of dolly right side infrared ray sensor J, L is launched infrared ray simultaneously, and it is respectively t that receiving transducer initially receives the mistiming transmitted
4, t'
4, until J, L infrared receiver probe receives the reflected signal mistiming, be t'
J, t'
L, condition below meet
That is, while existing length to be less than the space of length of wagon between the barrier of front and back, dolly moves on, until satisfy condition
Dolly trailing wheel in-position P
4, single-chip microcomputer is controlled drive motor by photoelectric encoder turn 90 degrees the dolly left and right wheels to the right, and dolly is straight ahead again; When the magnitude of voltage received when downward 8 infrared receivers probe of dolly headstock is low level after quantizing, now dolly has been got back on black line, i.e. dolly in-position P
3, single-chip microcomputer is controlled drive motor by photoelectric encoder turn 90 degrees the dolly left and right wheels left, continues straight-line travelling, keeping away in this case hinders route as shown in Figure 5, and the process of repeating step one, step 2, until dolly arrives destination by goods handling, finally, as logical variable Y
1And Y
2Satisfy condition
Single-chip microcomputer is controlled drive motor by photoelectric encoder and is made to return to one's starting point along original trace after the turnback of dolly left and right wheels original place.
Claims (3)
1. the storage transportation resources that automatic tracking is kept away barrier, black line is set on warehouse floor, and all the other floor brushs are become to white, the storage travelling bogie is provided with camera, single-chip microcomputer, 12 pairs of infrared ray sensors, ultrasonic sensor, driver module and vehicle power, wherein camera and ultrasonic sensor are arranged on directly over dolly headstock centre, the dead ahead that transmit direction is dolly, 8 pairs of equidistant laterally being arranged on below the dolly headstock of infrared ray sensor, transmit direction is under dolly, the 4 pairs of infrared ray sensors are arranged on respectively the side of four jiaos of the vehicle bodies of dolly, the both sides that transmit direction is dolly, single-chip microcomputer is connected with camera, 12 pairs of infrared ray sensors, ultrasonic sensor, driver modules respectively, vehicle power is connected with camera, single-chip microcomputer 12 pairs of infrared ray sensors, ultrasonic sensor, driver modules respectively, the storage travelling bogie arrives original place turnback behind destination along the black line automatic tracking, automatic obstacle-avoiding while running into barrier midway is characterized in that the concrete steps of automatic tracking are as follows:
Step a), 8 pairs of infrared ray sensor emission infrared rays of headstock below also convert the reflection ray received to low and high level;
Step b), by the level voltage binaryzation be converted to, when voltage is more than or equal to 3, get 1, when voltage is less than 3, gets 0;
Step c), obtain Y using the magnitude of voltage of 4 pairs of infrared ray sensor binaryzations of left side of face under headstock as logical value after work and calculating
1, using the magnitude of voltage of 4 pairs of infrared ray sensor binaryzations of right side of face under headstock as logical value, after work and calculating, obtain Y
2
Step d), if Y
1=0 and Y
2=0, the Single-chip Controlling driver module makes dolly along the trace straight-line travelling;
Step e), if Y
1=1 and Y
2=0, the Single-chip Controlling driver module makes dolly deflection left;
Step f), if Y
1=0 and Y
2=1, the Single-chip Controlling driver module makes dolly deflection to the right;
Step g), if Y
1=1 and Y
2=1, the Single-chip Controlling driver module makes dolly original place turnback.
2. keep away the storage transportation resources of barrier based on a kind of automatic tracking claimed in claim 1, it is characterized in that the concrete steps of automatic obstacle-avoiding are as follows:
Step 1), ultrasonic sensor is measured dolly and is greater than 1 meter while being less than 1.5 meters apart from the distance of barrier, Single-chip Controlling camera photographic images;
Step 2), the image lower-left point that the camera of take is taken is set up rectangular coordinate system as initial point, calculates clapped image center abscissa value Q, and calculates barrier center abscissa value W in clapped image;
Step 3), the barrier center abscissa value W relatively calculated and image center abscissa value Q;
Step 4), if Q>=W, it is curved that the Single-chip Controlling driver module turn 90 degrees dolly to the right, recording now two infrared ray sensors in vehicle body left side transmits and receives the mistiming between reflected signal, then control dolly and advance, when two, vehicle body left side infrared ray sensor transmits and mistiming of receiving between reflected signal all is greater than 3 * 10 with the absolute value of the difference of the mistiming of recording
-7Second the time, the Single-chip Controlling driver module turn 90 degrees after curved dolly left to advance, when two, left side of vehicle body infrared ray sensor transmits and mistiming of receiving between reflected signal all is greater than 3 * 10 with the absolute value of the difference of the mistiming of recording
-7Second the time, the Single-chip Controlling driver module turn 90 degrees after curved dolly left to advance, work as Y
1=0 and Y
2=0 o'clock, the Single-chip Controlling driver module turn 90 degrees after curved dolly to the right to advance;
Step 5), if Q<W, it is curved that the Single-chip Controlling driver module turn 90 degrees dolly left, recording now two, vehicle body right side infrared ray sensor transmits and receives the mistiming between reflected signal, then control dolly and advance, when two, vehicle body right side infrared ray sensor transmits and receives mistiming between reflected signal, with the absolute value of the difference of the mistiming of recording, all be greater than 3 * 10
-7Second the time, the Single-chip Controlling driver module turn 90 degrees after curved dolly to the right to advance, when two, vehicle body right side infrared ray sensor transmits and mistiming of receiving between reflected signal all is greater than 3 * 10 with the absolute value of the difference of the mistiming of recording
-7Second the time, the Single-chip Controlling driver module turn 90 degrees after curved dolly to the right to advance, work as Y
1=0 and Y
2=0 o'clock, the Single-chip Controlling driver module turn 90 degrees after curved dolly left to advance.
3. a kind of automatic tracking according to claim 2 is kept away the storage transportation resources of barrier, it is characterized in that step 2) described in to calculate the step of the barrier center abscissa value in image of clapping as follows:
Step 2.1), the photographic images lower-left point of CCD camera of take is set up rectangular coordinate system as initial point, as follows the image of setting up coordinate system is carried out to Threshold segmentation binary conversion treatment, obtains the gray-scale value B (m, n) of binary image:
Wherein I (m, n) is the gray-scale value of the view data of collection, the binarization segmentation threshold value that T is barrier and background, and T=210, m, n are respectively horizontal stroke, the ordinate value of current pixel location, and m, and n is not less than 0 integer, m=0,1,2 ..., 98,99, n=0,1,2 ..., 78,79;
Step 2.2), the gray-scale value of the pixel that after image binaryzation, each lists is carried out to addition, and result of calculation is stored in respectively to array A[g] in,
Wherein g is not less than 0 integer, g=0, and 1,2 ..., 98,99;
Step 2.3), ash value degree in array is screened, is determined the border, left and right of barrier, and by result store at array A[j] and F[h] in:
At first, g is according to 0,1,2 ..., 49,50 successively value and as the A[g+2 that satisfy condition]-A[g] >=15& & A[g+2] >=25& & A[g]≤5 o'clock, the value of g ' is stored in to array E[j successively] in, wherein, g '=g+2, j is for being not less than 0 integer, and j=0, and 1,2 ..., 49,50;
As the g all values A[g+2 that all do not satisfy condition]-A[g] >=15& & A[g+2] >=25& & A[g]≤5 o'clock, by image center abscissa value Q storage E[0] in, i.e. E[0]=Q, and Q=50;
Secondly, g is according to 0,1,2 ..., 49,50 successively value and as the A[100-g-2 that satisfy condition]-A[100-g] >=15& & A[100-g-2] >=25& & A[100-g]≤5 o'clock, the value of g ' ' is stored in to array F[h successively] in, g ' '=100-g-2 wherein, h is not less than 0 integer, and h=0, and 1,2 ..., 49,50;
As the g all values A[100-g-2 that all do not satisfy condition]-A[100-g] >=15& & A[100-g-2] >=25& & A[100-g]≤5 o'clock, by image center abscissa value Q storage F[0] in, i.e. F[0]=Q, and Q=50.
Step 2.4), dyscalculia thing central point abscissa value W=(E[0]+F[0])/2.
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Cited By (9)
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| CN104751679A (en) * | 2013-12-27 | 2015-07-01 | 张懿 | Automatic system for unmanned delivery car in crossroad |
| CN105302128A (en) * | 2014-06-10 | 2016-02-03 | 广西大学 | Tracking implementation method of tracking trolley provided with infrared sensors in a rectangular layout mode |
| CN108345041A (en) * | 2017-01-25 | 2018-07-31 | 吴正斌 | It is a kind of to be used to differentiate sensor assembly of the black and white without three kinds of situations of ball |
| CN108398951A (en) * | 2018-03-20 | 2018-08-14 | 广州番禺职业技术学院 | A kind of robot pose measurement method and apparatus combined of multi-sensor information |
| CN109508020A (en) * | 2018-12-28 | 2019-03-22 | 南京香宁国际人工智能和智能制造研究院有限公司 | Robot ambulation route automatic obstacle-avoiding method, system and robot |
| CN110134123A (en) * | 2019-04-25 | 2019-08-16 | 滨州学院 | A kind of control method of smart grid inspection robot |
| CN112256009A (en) * | 2019-07-04 | 2021-01-22 | 深圳市越疆科技有限公司 | Line seeking method, device, equipment and readable storage medium |
| CN116000913A (en) * | 2022-08-24 | 2023-04-25 | 广州大学 | Obstacle avoidance control method and system for library transfer robot |
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| CN108398951A (en) * | 2018-03-20 | 2018-08-14 | 广州番禺职业技术学院 | A kind of robot pose measurement method and apparatus combined of multi-sensor information |
| CN109508020A (en) * | 2018-12-28 | 2019-03-22 | 南京香宁国际人工智能和智能制造研究院有限公司 | Robot ambulation route automatic obstacle-avoiding method, system and robot |
| CN110134123A (en) * | 2019-04-25 | 2019-08-16 | 滨州学院 | A kind of control method of smart grid inspection robot |
| CN112256009A (en) * | 2019-07-04 | 2021-01-22 | 深圳市越疆科技有限公司 | Line seeking method, device, equipment and readable storage medium |
| CN116000913A (en) * | 2022-08-24 | 2023-04-25 | 广州大学 | Obstacle avoidance control method and system for library transfer robot |
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